Multi-unmanned aerial vehicle three-dimensional formation reconfiguration method based on artificial bee colony (ABC) algorithm

An artificial bee colony algorithm and formation reconstruction technology, applied in three-dimensional position/channel control, non-electric variable control, instruments, etc.

CN109669475AInactive Publication Date: 2019-04-23BEIHANG UNIV
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Patent Information

Authority / Receiving Office
CN · China
Current Assignee / Owner
Publication Date
2019-04-23
Estimated Expiration
Not applicable · inactive patent

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Abstract

The invention discloses a multi-unmanned aerial vehicle three-dimensional formation reconfiguration method based on an artificial bee colony (ABC) algorithm, and belongs to the technical field of unmanned aerial vehicle control. The method comprises the following steps: firstly, establishing a motion model of an unmanned aerial vehicle and then giving out mathematical description of optimal time control of three-dimensional formation reconfiguration; and after piecewise linearization control input is carried out, carrying out unmanned aerial vehicle three-dimensional formation reconfigurationby using an ABC algorithm. Compared with the prior art, the method disclosed by the invention has the advantages that the searching time of unmanned aerial vehicle formation reconfiguration through the ABC algorithm is shortest, so that the rapidity of the unmanned aerial vehicle formation reconfiguration is realized; and the ABC algorithm is a global search method which can avoid falling into local optimization, so that the accuracy of the unmanned aerial vehicle formation reconfiguration is improved.
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Description

technical field

[0001] The invention belongs to the technical field of unmanned aerial vehicle control, and relates to a reconstruction method of multi-unmanned aerial vehicle cooperative formation, specifically, refers to a multi-unmanned aerial vehicle based on artificial bee colony algorithm (Artificial Bee Colony Algorithm, hereinafter referred to as ABC). Human-machine three-dimensional formation reconstruction method. Background technique

[0002] UAV (Unmanned Aerial Vehicle, UAV) is an aircraft without a pilot on board, can be operated autonomously or remotely, can be consumable or recyclable, and can carry lethal or non-lethal payloads .

[0003] In 1917, the British successfully developed the world's first unmanned aerial vehicle. After that, the unmanned aerial vehicle has gone through unmanned target aircraft, pre-programmed control unmanned reconnaissance aircraft, command remote unmanned reconnaissance aircraft and composite control multi-purpose unmanned aeri...

Examples

Embodiment Construction

[0102] The technical solutions of the present invention will be further described below in conjunction with the accompanying drawings and examples.

[0103] Assuming that the number of unmanned aerial vehicles in the unmanned aerial vehicle formation is N=5, the relative position of each unmanned aerial vehicle in the formation is stipulated at the terminal time, the parameters of the ABC algorithm are set, and the multi-unmanned aerial vehicle based on the artificial bee colony algorithm proposed by the present invention is used. The three-dimensional formation reconstruction method can always find a set of solutions through continuous iteration. Under the condition of meeting the requirements of the UAV formation formation, the reconstruction time is guaranteed to be the shortest. The specific steps are as follows: Step 1: Set the parameters of the ABC algorithm: bee colony population QuantityN p =600, the maximum number of cycles T p =600 and threshold limit=10000. Initia...